CN108478393A - Contain submissive joint wearable neck recovering aid mechanism - Google Patents
Contain submissive joint wearable neck recovering aid mechanism Download PDFInfo
- Publication number
- CN108478393A CN108478393A CN201810518111.XA CN201810518111A CN108478393A CN 108478393 A CN108478393 A CN 108478393A CN 201810518111 A CN201810518111 A CN 201810518111A CN 108478393 A CN108478393 A CN 108478393A
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- Prior art keywords
- revolute pair
- connect
- drive rod
- flexible hinge
- pair
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- Pending
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- 230000007246 mechanism Effects 0.000 title claims abstract description 39
- 230000033001 locomotion Effects 0.000 claims abstract description 36
- 239000004433 Thermoplastic polyurethane Substances 0.000 claims description 5
- 229920002803 thermoplastic polyurethane Polymers 0.000 claims description 5
- 229920001971 elastomer Polymers 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 239000000806 elastomer Substances 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 239000004033 plastic Substances 0.000 abstract description 3
- 229920003023 plastic Polymers 0.000 abstract description 3
- 238000005461 lubrication Methods 0.000 abstract description 2
- 230000035939 shock Effects 0.000 abstract description 2
- 238000005299 abrasion Methods 0.000 abstract 1
- 238000005096 rolling process Methods 0.000 abstract 1
- 238000012549 training Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 206010041591 Spinal osteoarthritis Diseases 0.000 description 2
- 208000036319 cervical spondylosis Diseases 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 208000005801 spondylosis Diseases 0.000 description 2
- 241000446313 Lamella Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 208000029761 vertebral disease Diseases 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
- A61H1/0296—Neck
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1609—Neck
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/04—Devices for specific parts of the body neck
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Neurology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses containing submissive joint wearable neck recovering aid mechanism, connecting rod and drive rod are the integrated rods connected by submissive joint.When servo motor driving drive rod rotation, submissive joint replacement revolute pair, the transmission of movement and power is carried out using the plastic deformation of itself, make link rotatable, and then moving platform is made to realize the rotation of Three Degree Of Freedom, drive rod end is connected with retarder, servo motor, rack constitutes the drive part of robot.Elastic headgear and moving platform can well fix patients head, and mechanism can be fixed on patient's both shoulders by rack and shoulder belt well.Due to the traditional revolute pair of submissive joint replacement, reduce the weight of mechanism, it greatly reduces the challenges such as gap, friction, abrasion and lubrication in mechanism simultaneously, so as to improving MECHANISM PRECISION, increase reliability, reduce shock and vibration etc., it can be used as three executing agencies for rolling the neck recovering aid robot.
Description
Technical field
The present invention is a kind of Coupled Rigid-flexible mechanism, is related to applied mechanism technical field, more particularly to a kind of containing soft
Along the wearable neck recovering aid robot actuating mechanism in joint.
Background technology
With the change of the development and people's job specification of society, more and more people are added in cervical spondylosis queue.Neck
Vertebra disease generally uses non-operative treatment, wherein the training method by means of auxiliary body has been proved good effect.In addition,
The postoperative rehabilitation of whiplass patient is also required to carry out neck movement training, however trained specialist seriously lacks at present
It is weary, and rehabilitation training labor intensity for doctor is too big.
To sum up, this can be efficiently solved the problems, such as by inventing a kind of neck recovering aid mechanism, and patient can be orthopedic in neck
Self training is completed under the auxiliary of device.Doctor can also by the way that neck recovering aid mechanism is simulated with robot,
Practice neck rehabilitation action.But cervical orthoses currently on the market have certain limitation, turn if not having auxiliary head
Dynamic function, wearing are uncomfortable, and rigidly there is impact etc. in executing agency.Therefore, it is a kind of novel to be based on the development of spherical surface 3R parallel institutions
Containing submissive joint wearable neck recovering aid mechanism can be used for assisting whiplass patient, cervical spondylosis rehabilitation training and
Doctor's does simulated exercises, it will has good application prospect.
Invention content
Based on background above, the present invention provides contain submissive joint wearable neck recovering aid mechanism, mechanism tool
There is simple in structure, stable movement, mitigates impact, assemble simple feature, patent information is provided for domestic enterprise and research institution
And technical support.
To achieve the above object, the present invention is based on 3-RRS SPM features, the technical solution used is can containing submissive joint
Dress neck recovering aid mechanism, which is a kind of to replace conventional rotary pair using flexible hinge and obtain Coupled Rigid-flexible machine
Structure.The rehabilitation institution is made of motion platform 1, fixed platform 7 and three branches, along 120 ° of cloth between three branches
It sets and centered on centre of sphere O.Every branch is made of connecting rod 2 and drive rod 4,2 one end of connecting rod by by a spherical pair with
Motion platform 1 connects, and 2 other end of connecting rod is connect by a revolute pair with one end of drive rod 4, and the other end of drive rod 4 is logical
Another revolute pair is crossed to connect with fixed platform 7.Connecting rod 2 and drive rod 4 are arc-shaped rod.
Servo motor 6 is connect with drive rod 4 close to one end of fixed platform 7 by retarder 5, and the setting of headgear 8 is moving
On platform 1, shoulder belt 9 is arranged in fixed platform 7.
Connecting rod 2 and drive rod 4 are flexible piece, are all made of flexible material thermoplastic polyurethane elastomer rubber TPU or nylon
It is made.
All kinematic pairs of the rehabilitation institution being structurally characterized in that thereon are directed toward the same point O, which is the centre of motion,
It is also the centre of sphere of entire spherical mechanism；Movement characteristic is that the motion platform of mechanism only does three freedom rotary sport around the centre of sphere, is transported
Dynamic rail mark is always on spherical surface.The substantially front and back song of movement based on person neck is stretched, left and right lateral bending, axial torsion three rotate certainly
By the movement characteristic spent, executing agency of the 3-RRS SPM mechanisms as neck recovering aid robot can be used.Because neck is
The very fragile and slow structure of movement, for neck patient.So needing the movement of recovering aid mechanism slow
It is steady and do not have vibratory impulse.Therefore, the present invention is replaced using flexible hinge connects the method for traditional rigidity rotation pair to make
Mechanism kinematic is steady and does not impact.In order to ensure good driveability, still using biography between fixed platform and each drive rod
The revolute pair of system connects；Directly desired motion is not kept to advise by the deformation effect in submissive joint for the movement of moving platform
Rule is remained between moving platform and each connecting rod and is connected using traditional ball pair.Using flexible hinge replace connection driving lever and from
The rigidity rotation pair of lever, flexible hinge, drive rod and connecting rod are integrated, revolute pair, flexible hinge and the ball countershaft of all branches
Line intersects at a point, i.e. the centre of sphere of spheric motion.
Cervical vertebra recovering aid mechanism is made of rack, the overhead headring of set and three branches for being fixed on shoulder.Rack
It is made of plastic frame and elastic shoulder belt, it is wearable in shoulders of human body, and it is fixed on human body dual-shoulder position using can adjust shoulder belt,
Motor and fixed motor contact are fixed thereon simultaneously, for supporting motor and determining its rotation angle, Shi Ge branches electricity
Machine is swung by the driving integral type branch that rotates a certain angle, while driving headring, finally realizes the movement of movement headgear, Gu
Determine the motor position in rack and is respectively placed in left shoulder, right shoulder and behind.Material softness on the inside of headring and high resilience, can be comfortable
Be worn on the head, head steady can be fixed on to motion platform by headgear, there is 3 companies of corresponding flexural pivot connection below headring
Fitting is fixed on headgear edge by screw.The integral type bar that every branch is made of drive rod, flexible hinge and connecting rod
Part structure.Wherein, it is connect by revolute pair with motor in rack below driving lever, with follower lever lower section by soft above driving lever
Property hinge connection, connected by spherical pair with headring above follower lever.Motor rotation drives the movement of integral type bar, corresponding to drive
Headring moves together.
First branch includes the first revolute pair R11, the first flexible hinge F12 and the first ball secondary S13；Second branch
Including the second revolute pair R21, the second flexible hinge F22 and the second ball secondary S23；Third branch includes third revolute pair R31,
Three flexible hinge F32 and third ball secondary S33.
The first revolute pair R11 in first branch is connect with fixed platform 7, and the first ball secondary S13 connects with motion platform 1
It connects, passes through the first flexible hinge F12 connections, the first revolute pair R11, the first flexibility between the first revolute pair R11 and the first ball secondary S13
The axis of hinge F12 and the first ball secondary S13 intersects at centre of sphere O.
The second revolute pair R21 in second branch is connect with fixed platform 7, and the second ball secondary S23 connects with motion platform 1
It connects, passes through the second flexible hinge F22 connections, the second revolute pair R21, the second flexibility between the second revolute pair R21 and the second ball secondary S23
The axis of hinge F22 and the second ball secondary S23 intersects at centre of sphere O.
Third revolute pair R31 in third branch is connect with fixed platform 7, and third ball secondary S33 connects with motion platform 1
It connects, by the F32 connections of third flexible hinge between third revolute pair R31 and third ball secondary S33, third revolute pair R31, third are flexible
The axis of hinge F32 and third ball secondary S33 intersects at centre of sphere O.
Compared with prior art, the present invention has the following advantages：
1, the mechanism branched structure is simple and symmetrical, and branch uses the company that flexible hinge, drive rod and connecting rod are integrated
Mode is connect, assembly and lubrication are reduced, convenient for mechanism overall processing manufacture and assembly.
2, compared with the mechanism for realizing same kinetic property, which replaces conventional rigid kinematic pair using flexible hinge
Method transmits movement using the deformation of flexible hinge, can absorb shock and vibration, make more steady movement, safety, can
It leans on, is more suitable for recovering aid medical institutions；
Description of the drawings
Fig. 1 is rigidity 3-RRS SPM mechanism structure figures.
In figure：1, motion platform, 2, connecting rod, 4, drive rod, 7, fixed platform, S, ball pair, R, revolute pair.
Fig. 2 is X-type flexible hinge structure figure.
In figure：R, arc-shaped thin plate radius, t, arc-shaped lamella thickness.
Fig. 3 is the integral type branch being formed by connecting by connecting rod, flexible hinge and drive rod.
In figure：S, ball pair, R, revolute pair, 2, connecting rod, 3, flexible hinge, 4, drive rod.
Fig. 4 is containing submissive joint wearable neck recovering aid mechanism.
In figure：1, motion platform, 2, connecting rod, 3, flexible hinge, 4, drive rod, 5, retarder, 6, servo motor, 7, fixed flat
Platform, 8, headgear, 9, shoulder belt.
Fig. 5, which behaves, dresses neck recovering aid robot schematic diagram.
Specific implementation mode
The present invention is described further with reference to the accompanying drawings and detailed description：
As shown in Fig. 1 to 5, a kind of wearable neck recovering aid mechanism containing submissive joint, including motion platform 1,
Connecting rod 2, flexible hinge 3, drive rod 4, retarder 5, servo motor 6, fixed platform 7, headgear 8 and shoulder belt 9.Motion platform 1 and solid
Three branches of 120 ° of arrangements are connected between fixed platform 7, each branch is by connecting rod 2, drive rod 4 and by connecting rod and drive rod
The submissive joint 3 that connects forms, between motion platform 1 and connecting rod 2 by the connection of traditional ball subjoint, drive rod 4 with it is solid
It is connected by conventional rotary pair between fixed platform 7；Retarder 5, servo electricity of the drive rod 4 close to the connection of one end of fixed platform 7
Machine 6 is connected with fixed platform 7 constitutes the drive part of robot；Retarder 5 is fixedly connected with servo motor 6, and axle center
Identical, servo motor is fixedly connected with fixed platform 7；The recovering aid mechanism that rolls the neck of space three is realized around X-axis, Y-axis, Z
The rotation in three directions of axis.
Described contains submissive joint wearable neck recovering aid mechanism, and drive rod, connecting rod and submissive joint are integrated
The connection type of formula.
Described contains submissive joint wearable neck recovering aid mechanism, and integrated model is all made of flexible material and is made,
Such as TPU, nylon；Complete the transmission of power and movement using the plastic deformation of submissive joint thin plate, realize with submissive joint come
Instead of the transmission of revolute pair.
Claims (5)
1. containing submissive joint wearable neck recovering aid mechanism, it is characterised in that：The rehabilitation institution by motion platform (1),
Fixed platform (7) and three branches are constituted, along 120 ° of arrangements and centered on centre of sphere O between three branches；Every
Branch is made of connecting rod (2) and drive rod (4), connecting rod (2) one end by being connect with motion platform (1) by a spherical pair,
Connecting rod (2) other end is connect by a revolute pair with one end of drive rod (4), and the other end of drive rod (4) passes through another
Revolute pair is connect with fixed platform (7)；Connecting rod (2) and drive rod (4) are arc-shaped rod；
Servo motor (6) is connect with drive rod (4) close to one end of fixed platform (7) by retarder (5), headgear (8) setting
On motion platform (1), shoulder belt (9) is arranged in fixed platform (7)；
The first branch in three branches includes the first revolute pair (R11), the first flexible hinge (F12) and the first ball pair
(S13)；The second branch in three branches includes the second revolute pair (R21), the second flexible hinge (F22) and the second ball
Secondary (S23)；Third branch in three branches includes third revolute pair (R31), third flexible hinge (F32) and third
Ball pair (S33).
2. according to claim 1 contain submissive joint wearable neck recovering aid mechanism, it is characterised in that：Connecting rod
(2) and drive rod (4) is flexible piece, is all made of flexible material thermoplastic polyurethane elastomer rubber TPU or nylon is made.
3. according to claim 1 contain submissive joint wearable neck recovering aid mechanism, it is characterised in that：First point
The first revolute pair (R11) in branch mechanism is connect with fixed platform (7), and the first ball pair (S13) is connect with motion platform (1), the
It is connect by the first flexible hinge (F12) between one revolute pair (R11) and the first ball secondary (S13), the first revolute pair (R11), first
Flexible hinge (F12) and the axis of the first ball secondary (S13) intersect at centre of sphere O.
4. according to claim 1 contain submissive joint wearable neck recovering aid mechanism, it is characterised in that：Second point
The second revolute pair (R21) in branch mechanism is connect with fixed platform (7), and the second ball pair (S23) is connect with motion platform (1), the
It is connect by the second flexible hinge (F22) between two revolute pairs (R21) and the second ball secondary (S23), the second revolute pair (R21), second
Flexible hinge (F22) and the axis of the second ball secondary (S23) intersect at centre of sphere O.
5. according to claim 1 contain submissive joint wearable neck recovering aid mechanism, it is characterised in that：Third point
Third revolute pair (R31) in branch mechanism is connect with fixed platform (7), and third ball secondary (S33) is connect with motion platform (1), the
It is connect by third flexible hinge (F32) between three revolute pairs (R31) and third ball secondary (S33), third revolute pair (R31), third
Flexible hinge (F32) and the axis of third ball secondary (S33) intersect at centre of sphere O.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810518111.XA CN108478393A (en) | 2018-05-27 | 2018-05-27 | Contain submissive joint wearable neck recovering aid mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810518111.XA CN108478393A (en) | 2018-05-27 | 2018-05-27 | Contain submissive joint wearable neck recovering aid mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108478393A true CN108478393A (en) | 2018-09-04 |
Family
ID=63352159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810518111.XA Pending CN108478393A (en) | 2018-05-27 | 2018-05-27 | Contain submissive joint wearable neck recovering aid mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN108478393A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110090126A (en) * | 2019-05-30 | 2019-08-06 | 郑州市中心医院 | A kind of ICU section multifunctional examiner |
| CN110454656A (en) * | 2019-08-14 | 2019-11-15 | 上海卫星工程研究所 | Frame-type dual mechanisms and its application method |
| CN111529310A (en) * | 2020-04-24 | 2020-08-14 | 蔡桂平 | Medical neck joint rehabilitation training method and device |
| CN111529309A (en) * | 2020-04-24 | 2020-08-14 | 蔡桂平 | Medical neck joint rehabilitation training device |
| KR102159449B1 (en) * | 2019-04-03 | 2020-09-23 | 경남대학교 산학협력단 | Parallel robot type wearable device for the neck-pain treatment |
| CN112022622A (en) * | 2020-09-14 | 2020-12-04 | 浙江正远医疗科技有限公司 | Upper limb rehabilitation mechanical arm and robot for spinal cord injury patient |
| CN112057294A (en) * | 2020-08-07 | 2020-12-11 | 北京工业大学 | Auxiliary rehabilitation equipment for neck with rigid-flexible coupling spherical surface |
| CN115778293A (en) * | 2022-11-30 | 2023-03-14 | 湖南省华芯医疗器械有限公司 | Active bending section, insertion part and endoscope |
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| CN102151187A (en) * | 2011-04-27 | 2011-08-17 | 南通大学 | Wearable neck power-assisted in-parallel robot |
| CN103507064A (en) * | 2013-09-28 | 2014-01-15 | 北京工业大学 | Flexible parallel robot experimental device of changeable plane three-degree-of-freedom structure |
| US20140081180A1 (en) * | 2009-02-06 | 2014-03-20 | Jamshid Ghajar | Subject-Mounted Device to Measure Relative Motion of Human Joints |
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| CN209332630U (en) * | 2018-05-27 | 2019-09-03 | 北京工业大学 | Contain submissive joint wearable neck recovering aid mechanism |
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| CN1429692A (en) * | 2003-01-26 | 2003-07-16 | 河北工业大学 | Series-parallel man-shaped robot |
| US20140081180A1 (en) * | 2009-02-06 | 2014-03-20 | Jamshid Ghajar | Subject-Mounted Device to Measure Relative Motion of Human Joints |
| CN102151187A (en) * | 2011-04-27 | 2011-08-17 | 南通大学 | Wearable neck power-assisted in-parallel robot |
| WO2014092521A1 (en) * | 2012-12-12 | 2014-06-19 | Республиканское Государственное Предприятие На Праве Хозяйственного Ведения "Казахский Национальный Технический Университет Имени К.И. Сатпаева" Министерства Образования И Науки Республики Казахстан | Controllable prosthesis for cervical region of vertebral column |
| CN103507064A (en) * | 2013-09-28 | 2014-01-15 | 北京工业大学 | Flexible parallel robot experimental device of changeable plane three-degree-of-freedom structure |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102159449B1 (en) * | 2019-04-03 | 2020-09-23 | 경남대학교 산학협력단 | Parallel robot type wearable device for the neck-pain treatment |
| CN110090126A (en) * | 2019-05-30 | 2019-08-06 | 郑州市中心医院 | A kind of ICU section multifunctional examiner |
| CN110454656A (en) * | 2019-08-14 | 2019-11-15 | 上海卫星工程研究所 | Frame-type dual mechanisms and its application method |
| CN110454656B (en) * | 2019-08-14 | 2021-09-14 | 上海卫星工程研究所 | Frame type dual mechanism and using method thereof |
| CN111529309B (en) * | 2020-04-24 | 2022-05-27 | 蔡桂平 | Medical neck joint rehabilitation training device |
| CN111529309A (en) * | 2020-04-24 | 2020-08-14 | 蔡桂平 | Medical neck joint rehabilitation training device |
| CN111529310B (en) * | 2020-04-24 | 2022-05-27 | 蔡桂平 | Medical neck joint rehabilitation training device |
| CN111529310A (en) * | 2020-04-24 | 2020-08-14 | 蔡桂平 | Medical neck joint rehabilitation training method and device |
| CN112057294A (en) * | 2020-08-07 | 2020-12-11 | 北京工业大学 | Auxiliary rehabilitation equipment for neck with rigid-flexible coupling spherical surface |
| CN112022622A (en) * | 2020-09-14 | 2020-12-04 | 浙江正远医疗科技有限公司 | Upper limb rehabilitation mechanical arm and robot for spinal cord injury patient |
| CN112022622B (en) * | 2020-09-14 | 2023-05-09 | 浙江正远医疗科技有限公司 | Upper limb rehabilitation mechanical arm and robot for spinal cord injury patient |
| CN115778293A (en) * | 2022-11-30 | 2023-03-14 | 湖南省华芯医疗器械有限公司 | Active bending section, insertion part and endoscope |
| CN115778293B (en) * | 2022-11-30 | 2024-05-07 | 湖南省华芯医疗器械有限公司 | Active bending section, insertion section and endoscope |
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